My Library

University LibraryCatalogue

     
Limit search to items available for borrowing or consultation
Result Page: Previous Next
 
Look for full text

Search Discovery

Search Trove

Add record to RefWorks

Cover Art
PRINTED BOOKS
Author Davidson, Joseph K.

Title Robots and screw theory : applications of kinematics and statics to robotics / Joseph K. Davidson and Kenneth H. Hunt.

Published New York : Oxford University Press, 2004.

Copies

Location Call No. Status
 UniM Store Engin  629.892 DAVI    AVAILABLE
Physical description xvii, 458 pages : illustrations ; 25 cm
Bibliography Includes bibliographical references and index.
Contents 1 Planar Serial Robot-arm 1 -- 1.2 Freedom of the End-effector 2 -- 1.3 Instantaneous Centres in a Planar Robot-arm 3 -- 1.4 Velocities by Superposition 8 -- 1.5 Linear Sliding Joint 13 -- 1.6 Torques at the Actuated Joints 15 -- 1.7 Assembly-configurations of a Planar Robot-arm 17 -- 1.8 Foreshadowing the Spatial Serial Robot-arm 21 -- 2 Describing the Screw 23 -- 2.1 Screw in Mechanics 23 -- 2.2 Finite Twist 30 -- 2.3 Freedom and Constraint of a Rigid Body 31 -- 2.4 Twists, Wrenches, and Screws Summarized 33 -- 3 Analysing the Screw 35 -- 3.2 Screw Coordinates 36 -- 3.3 A Line as the Join of Two Finite Points 40 -- 3.4 Homogeneous Coordinates of a Point 43 -- 3.5 Homogeneous Coordinates of a Plane 47 -- 3.6 Homogeneity, Dimensions, and Units 52 -- 3.7 Ray- and Axis-coordinate Orders for Screw Coordinates 55 -- 3.8 Duality and Lines 55 -- 4 Transformations for Coordinates That Locate A Rigid Body 59 -- 4.2 Coordinate Transformations for Two Dimensions 60 -- 4.3 General Rotational Transformations 71 -- 4.4 Interpretations of a Transformation 73 -- 4.5 Coordinate Transformations for Three Dimensions 77 -- 4.6 Finite Twist 84 -- 5 Linear Dependence: Reciprocity of Screws: Linear and Non-Linear Screw Systems 97 -- 5.1 Linear Dependence of Points and Planes 97 -- 5.2 Linear Two-System of Screws 99 -- 5.3 Linear Screw Systems 105 -- 5.4 Reciprocity of Screws 113 -- 5.5 Reciprocity and Linear Screw Systems 119 -- 5.6 Linear and Non-linear Screw Systems 121 -- 5.7 Some Finite Displacements and Their Screw Systems 123 -- 6 Spatial Serial Robot-Arms 134 -- 6.2 Some Typical Six-actuator Arms 134 -- 6.3 A Gantry Arm 139 -- 6.4 CM T[superscript 3]-566 Arm (Elbow Manipulator) 157 -- 6.5 A Unimate PUMA Arm 164 -- 6.6 A Manipulator with Rotary Joints in Just Three Directions 167 -- 6.7 General Features of Special Configurations 168 -- 6.8 Workspace 170 -- 6.9 Five-actuator Arms 178 -- 6.10 Control 186 -- 6.11 Torques (Forces) at the Joints of a Six-actuator Arm 188 -- 7 Assembly-Configurations of Serial Robot-Arms 193 -- 7.2 Assembly-configurations of Six-actuator Robot-arms 197 -- 7.3 A Five-actuator Arm 211 -- 7.4 Six-actuator Robot-arms with Generally Placed Axes 215 -- 7.5 Robot-arms with Closed-form Solutions 226 -- 8 In-Parallel Actuation I: Simple and Direct 229 -- 8.2 6-6 Fully In-parallel Manipulator 230 -- 8.3 Octahedral Manipulator: Geometry 240 -- 8.4 Transitory Kinematic Equivalence: Serial versus In-parallel 245 -- 8.5 Statics and Kinematics of Fully In-parallel Robots 258 -- 8.6 Octahedral Manipulator: Proportions and Configurations 265 -- 8.7 Special Configurations: Further Observations 286 -- 9 In-Parallel Actuation II: Combinations with Serial Devices 293 -- 9.2 Two Composite Robots 294 -- 9.3 Force-applicator: Some Variants in Six-actuator Robots 297 -- 9.4 Mobility, Connectivity, and Over-constraint 300 -- 9.5 Adjustable Tripod as a Manipulator 304 -- 9.6 Generalized Reciprocal Connections: Some Derived Robots 310 -- 9.7 Two Planar In-parallel Robots 316 -- 9.8 Homokinetic Coupling Robots and a Derivative 322 -- 9.9 Inverse Kinematics for Position of Composite and Planar In-parallel Robots 328 -- 9.10 Two Over-constrained Translatory Manipulators 334 -- 10 Redundant Robotic Systems 338 -- 10.2 Pseudoinverse Control 339 -- 10.3 Control of a Four-axis Spherical Wrist 348 -- 10.4 Actuator-torques (Forces) at the Joints of Redundant Serial Arms 356 -- 10.5 Statically Redundant Robots and Manipulators 359 -- 11 Static Stability in Legged Vehicles 376 -- 11.2 Wheeled and Legged Vehicles 376 -- 11.3 Margin of Static Stability 378 -- 11.4 Application to General Locations of the Contacts 381 -- 11.5 Virtual Power Used in Control 384 -- 11.6 A Display for Margin of Static Stability 384 -- Appendix B Screw as a Point in Projective Five-Space 402 -- Appendix C Finite Twist and Eduard Study's Coordinates 407.
Summary This book describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed can be applied to both control of robots and the design of their major moving parts. Comprehensive coverage of the screw and its geometry bridges the gap between screw theory and traditional mechanics but no prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example and progresses to robots that move three-dimensionally. Containing many illustrative examples, over 300 exercises, and a chapter list of references it is ideal for graduate students, researchers and professionals in the field of robotics, robot design and development.
Other author Hunt, K. H. (Kenneth Henderson)
Subject Robotics.
ISBN 0198562454